Commit 2e0e5e53 authored by Jayant Khatkar's avatar Jayant Khatkar
Browse files

update plan loading to include contour data for extrusion (#10)

parent 272fd987
......@@ -38,8 +38,8 @@ def execute_plan(plan, controller):
if __name__ == '__main__':
plan1 = load_plan('plans/1.plan')
plan2 = load_plan('plans/2.plan')
plan1 = load_plan('origin')
plan2, flexi_contours = load_plan('flexirex', contours=True)
#con = Controller()
con = Controller(disable_extruder=True)
execute_plan(plan2, con)
This diff is collapsed.
import numpy as np
import pickle
from . import JTrajectory
import gcode2contour as gc
def _emptyTraj(joints, arm):
......@@ -64,16 +65,24 @@ class Plan:
return self.jointsAtTime(self.cumul_time[arm][-1], arm)
def load_plan(filename):
def load_plan(model, contours=False):
load a saved plan
You cannot have existing pybullet instance going
with open(filename, 'rb') as f:
plan_file = 'plans/' + model + ".plan"
with open(plan_file, 'rb') as f:
_, _, start_joints, ctime, trajs = pickle.load(f)
plan = Plan(start_joints)
plan.trajs = trajs
plan.cumul_time = ctime
return plan
if contours:
# Read gcode file
contours = gc.decode_gcode("plans/" + model + ".gcode")
return plan, contours
return plan
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